Promoting her book "Life Is Not A Reality Show" on "Good Morning America" on Monday, Richards said she stayed grounded in her marriage to Umansky by mutually staying appreciative of each other.

But in the book, the twice-married, mother-of-four also compares cheating once to getting a free pass, and advises her readers not to tell the other partner.

"I've seen circumstances with people that I know, [who] are in love with their spouse, and they made one mistake... Listen, if this really was a one-time mistake, and you did not put this person in jeopardy, I personally think you should deal with it yourself and with God, and not go and say, 'Honey look what I did.' Because I knew this would ruin the relationship and their life. So I said, it did not happen," Richards told host Robin Roberts.

"I can tell you many many many years later, they're happy together, and she did make that mistake, and she has to carry that and live with that. And it's not me! My husband's over there sweating bullets! I knew that I would get a lot of heat for that, but I do feel it, and I do know they're still going strong."

Check out photos of other "Real Housewives" below.

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'Real Housewife' Kyle Richards Says Cheating Once Is Free Pass

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Bravo's "The Real Housewives Of New Jersey" Season Two Premiere

(L-R) Television personalities Gia Giudice, Teresa Giudice, Milania Giudice and Gabriella Giudice attend Bravo's "The Real Housewives of New Jersey" season two premiere at The Brownstone on May 3, 2010 in Paterson, N.J. (Photo by Mike Coppola/Getty Images)